Pipe processing tool with pipe deformation members

ABSTRACT

A pipe processing tool that is configured to deform the end of a pipe so that the circumferential shape of the end of the pipe generally matches the circumferential shape of an adjacent pipe end. Matching the circumferential shapes of the pipe ends is advantageous during a pipe attachment process. The pipe processing tool can include a deformation ring with a plurality of pipe deformation members. Each pipe deformation member faces radially inward and is actuatable in a radial direction toward and away from the center of the deformation ring in order to permit engagement with the pipe. Each pipe deformation member is individually and separately actuatable from the other pipe deformation members so that the circumferential shapes of the pipes can be altered by controlling suitable ones of the pipe deformation members.

FIELD

This disclosure relates to positioning pipe and pipe ends to join thepipe ends together and performing processing operations on the pipe orpipe ends.

BACKGROUND

Positioning two large diameter pipes, such as oilfield pipes, forfastening the pipes to one another is extremely time consuming and cantake many hours and require many workers and millions of dollars worthof equipment which is very costly and slows down the production of thepipeline. In addition, the current process is hazardous to the workers.One technique for improving the pipe attachment process is described inU.S. Pat. No. 8,328,071.

Any reduction in the time and cost it takes to make a connection betweenpipe is beneficial. In addition, improving the safety to ground workerswould be beneficial.

SUMMARY

A pipe processing tool is described that is configured to deform the endof a pipe so that the circumferential shape (for example, thecircularity) of the end of the pipe generally matches thecircumferential shape (for example, the circularity) of an adjacent pipeend. Matching the circumferential shapes of the pipe ends isadvantageous during a pipe fastening process, where the ends of the twopipes need to be aligned with and matched to one another for welding orother securement of the ends together.

In the pipeline industry, stringing pipe is typically defined as layingpipe end to end in preparation to be welded together. Set up istypically defined as welding the pipe ends together above ground onejoint at a time after the pipe stringing. Lower in is typically definedas, once pipe is welded together above ground, lowering the pipe into atrench. Tie-in is typically defined as being when two pipes are weldedor otherwise secured to one another while in a trench.

This application describes a system and method that can performstringing of pipe, set up pipe, lower in of pipe, and pipe tie-in.Stringing pipe, set up of pipe, lower in of pipe and pipe tie-in will becollectively referred to herein as a pipe laying process and is intendedto encompass any one of these individual processes or encompass each ofthese processes, whether above ground or in a trench. The process ofattaching one end of a pipe to another end of a pipe, whether during setup above ground or in a tie-in operation while in a trench, will bereferred to as a pipe attachment process or the like and is intended toencompass attachment during set up, during tie-in, or attachment duringany other process.

A system and method are also described wherein the alignment of the endsof the two pipes, and one or more pipe processing operations such aswelding the ends of the pipes together during a pipe attachment process,can be manually controlled by a single operator from the ground close tothe pipe attachment operation. Some or all of the alignment process, andsome or all of the pipe processing operation(s), can be automated, withthe operator able to override the automation to permit manual control.

In one embodiment, one or more sensors, such as laser sensors, detectthe circumferential shape of at least one of the pipe ends. The datafrom the sensors is fed to a control system which in turn uses the datato control the deformation of the pipe end by the pipe processing tooluntil the circumferential shape of the pipe ends generally match oneanother.

In another embodiment, sensors detect the circumferential shape of eachof the pipe ends so that the control system knows the circumferentialshape of each pipe end and can control the deformation applied by thepipe processing tool until the circumferential shapes of the pipe endsgenerally match one another.

In still another embodiment, the ends of both of the pipes can bedeformed by the pipe processing tool in order to generally match thecircumferential shapes of the pipe ends.

As used herein, the term “circularity” refers to how close to, orconversely how far from, the shape of the pipe approaches that of aperfect circle. The term “ovality”, which is defined as the degree ofdeviation from perfect circularity, could also be used in place of“circularity”. In a more general sense, the pipe processing tooldescribed herein deforms the pipe to change its circumferential shape insome manner, e.g. changes the pipe's “circularity” or “ovality” in thecase of circular pipe.

The pipe processing tool can deform one or both pipe ends so that thecircumferential shapes of the pipe ends match each other. The pipeend(s) could be deformed in order to make the circumferential shape(s)substantially circular, oval or whatever shape the pipes are supposed tohave. Alternatively, one or more of the pipe ends could be deformed tointentionally deviate from their intended shape. For example, one of thepipe ends could have one or more flats so that the circumferential shapeof the pipe end deviates from a perfect circle. The other pipe end couldbe deformed by the pipe processing tool in order to have matching flatsso that the circumferential shape matches the other pipe.

Therefore, the pipe processing tool can be used to achieve substantialcircularity or the pipe processing tool can be used to intentionallydeviate from substantial circularity. In either event, the pipeprocessing tool deforms the pipe end(s) so that the circumferentialshapes of the pipe ends match one another for subsequent welding of thepipe ends.

One embodiment of the pipe processing tool can include a firstdeformation ring that has a closed configuration and an openconfiguration. In the closed configuration, the first deformation ringforms a circle that can encircle a first pipe and in the openconfiguration the first deformation ring can be installed around orremoved from the first pipe. A first plurality of pipe deformationmembers are disposed on, and are circumferentially spaced from oneanother about, an inner circumference of the first deformation ring.Each of the pipe deformation members faces radially inward toward acenter of the first deformation ring when the first deformation ring isin the closed configuration. Each of the pipe deformation memberscomprises a fluid actuated piston that is actuatable in a radialdirection toward and away from the center of the first deformation ringin order to permit engagement with the first pipe. In addition, eachpipe deformation member is individually and separately actuatable fromthe other pipe deformation members so that the circularity of the pipecan be altered by controlling suitable ones of the pipe deformationmembers.

In another embodiment, the pipe processing tool includes a second one ofthe deformation rings and plurality of pipe deformation members that inuse is disposed around the end of the second pipe.

In an embodiment, the pipe processing tool is mounted on a grappleattachment that in turn is mounted on construction equipment, forexample mounted to the arm or “stick” of construction equipment such asan excavator, track hoe, back hoe, or similar prime mover or heavyconstruction equipment. The operations of the pipe processing tool, thegrapple attachment, and the construction equipment can be controlledfrom the operator's cab of the construction equipment.

In another embodiment, the operations of the pipe processing tool, thegrapple attachment, and the construction equipment itself can becontrolled from a portable control assembly that can be, for example,manually carried by a user or is otherwise located outside of theoperator's cab of the construction equipment. The portable controlassembly permits a single operator to manually control a pipe layingprocess, including aligning the ends of the pipes, deforming the pipeend(s), and welding the ends of the pipes and/or performing other pipeprocessing operation(s), by being able to control each of theconstruction equipment, the grapple attachment, and the pipe processingtool from the ground close to the intended pipe laying and attachment tobetter view the pipe laying and attachment operations.

Some or all of the pipe laying and/or pipe attachment operations can beautomated, with the portable control assembly allowing the operator toassume manual control if necessary. For example, the steps ofdetermining the shape of the ends of the pipes, deforming the pipeend(s), and welding the ends together can be automated, but under thesupervision of the operator. If the operator desires to override one ormore of the automated steps and instead perform the step(s) under manualcontrol, the portable control assembly permits such override.

The portable control assembly can take on any configuration that permitsa user to control each of the construction equipment, the grappleattachment, and the pipe processing tool. In one embodiment, a maincontrol assembly can be designed to control the construction equipmentand the grapple attachment, while a separate remote control pendent isdesigned to control at least the pipe processing tool and also thegrapple attachment. In an exemplary embodiment, the remote controlpendent can be designed as a separate unit from the main controlassembly, but can be designed to fit on and be carried by the maincontrol assembly.

DRAWINGS

FIG. 1 illustrates an exemplary pipe processing tool used in conjunctionwith a grapple attachment mounted on construction equipment.

FIG. 2A is a close-up perspective view of the pipe processing tool andthe grapple attachment with the pipe processing tool in a closedconfiguration.

FIG. 2B is a view similar to FIG. 2A, but with the pipe processing toolin an open configuration FIG. 3 is a side view of the pipe processingtool and the grapple attachment.

FIG. 4 is a detailed perspective view of the pipe processing tool.

FIG. 5 is an end view of one deformation ring of the pipe processingtool.

FIG. 5A is a view of the backside of the carrier that carries theprocessing mechanism.

FIG. 6 is an end view of one of the deformation rings of the pipeprocessing tool in the open configuration.

FIG. 7 illustrates an alternative embodiment of a pipe processing toolthat uses a single deformation ring.

FIG. 8 illustrates an example of a portable control assembly that can beused to control the construction equipment, the grapple attachment andthe pipe processing tool.

FIG. 9 illustrates the remote control pendent removed from the maincontrol assembly.

FIG. 10 illustrate the remote control pendent.

FIG. 11 schematically depicts an exemplary control scheme between theportable control assembly, the construction equipment, the grappleattachment, and the pipe processing tool.

FIG. 12 is a detailed side view of the pipe processing tool that isconfigured to perform welding.

FIG. 13 is a detailed close-up view of the portion contained in thecircle 13 in FIG. 12.

FIG. 14 is a perspective side view of the pipe processing toolillustrating a control module and a manifold.

FIG. 15 is a perspective view showing the use of a single pipeprocessing tool that is configured to perform welding.

FIG. 16 illustrates the pipe processing tool shifted to the left.

FIG. 17 illustrates the pipe processing tool shifted to the right.

FIG. 18 illustrates the pipe processing tool shifted vertically upward.

FIG. 19 is a detailed view of one of the pipe deformation members.

FIG. 20 illustrates a wiring harness from the control module to a motorof one of the pipe processing mechanisms.

FIG. 21 illustrates an operator controlling the construction equipmentand the grapple attachment from the ground while laying pipe end-to-endon the ground.

FIG. 22 is a perspective view of an embodiment of a pipe processing toolwith hydraulic pressure and tank lines and adjustable pipe deformationmembers.

FIG. 23 is a side view of the pipe processing tool of FIG. 22.

DETAILED DESCRIPTION

FIG. 1 illustrates equipment for performing pipe laying and attachmentprocess where an end of a first pipe 10 is aligned with an end of asecond pipe 12 for welding the ends of the pipes to one another.Although a pipe welding process is specifically mentioned, as discussedfurther below, the equipment is not limited to performing pipe welding.The equipment can be used to perform other processing operations on thepipe ends either separately from or in addition to welding.

The equipment includes construction equipment 14 such as an excavator, agrapple attachment 16 mounted to the construction equipment 14, and apipe processing tool 18. The construction equipment 14 can be any typeof construction equipment to which the grapple attachment 16 can bemounted. The construction equipment 14 is illustrated in FIG. 1 as beingan excavator that includes a hydraulically controllable arm 20, left andright tracks 22 a, 22 b, an operator's cab 24 and an engine assembly 26.The excavator is of generally well known construction and as would beunderstood by a person of ordinary skill in the art, the tracks 22 a, 22b are used to steer the excavator and move the excavator from positionto position. In addition, the upper portion of the excavator includingthe cab 24 and the engine assembly 26 are rotatable about a verticalaxis relative to the tracks 22 a, 22 b. However, the constructionequipment is not limited to being an excavator and other types ofconstruction equipment can be used.

The various movements of the construction equipment 14, including thearm 20, rotation of the tracks 22 a, 22 b, and rotation of the cab 24,can be controlled in conventional manner, for example using hydraulicsand hydraulic actuators.

The grapple attachment 16 is mounted to the arm 20 of the excavator.With reference to FIGS. 1-3, the attachment 16 includes a main beam 30that is pivotally connected to the base of a lower head assembly 32 by apivot 34 for pivoting about a y-axis. The lower head assembly 32 isrotatably connected to a mount bracket 36 to permit the lower headassembly 32 to rotate or swivel 360 degrees relative to the mountbracket about a vertical x-axis. The mount bracket 36 detachably mountsthe attachment 16 to the arm 20 of the construction equipment. Tiltactuators 38, 40 extend between the lower head assembly 32 and the mainbeam 30 to selectively tilt the main beam about the pivot 34 (i.e. aboutthe y-axis). Further information on the construction and operation of amain beam, lower head assembly, mount bracket and the tilt actuators canbe found in U.S. Pat. Nos. 8,146,971 and 8,567,836, which areincorporated herein by reference in their entireties.

The grapple attachment 16 includes a pair of grapple mechanisms 42, 44mounted on the main beam 30. With reference to FIG. 3, the grapplemechanisms 42, 44 are mounted on the main beam so that each grapplemechanism is individually adjustable relative to the main beam 30 alongthe length of the main beam in a z-axis direction as shown by the arrowsA in FIG. 3. Adjustment of each grapple mechanism 42, 44 is achieved byshift cylinders (not visible) which are disposed within the main beam,and each of which is fixed at one end to the main beam and fixed at anopposite end to the grapple mechanisms 42, 44. If desired, the shiftcylinders can be located outside of the main beam. Further informationon shifting grapple mechanisms on a main beam in a z-axis direction isdescribed in U.S. Pat. No. 8,567,836.

In addition, the grapple mechanisms 42, 44 are shiftable forward andbackward in the y-axis direction shown by the arrows B in FIG. 2, and upand down in the x-axis direction as shown by the arrows C in FIG. 3, toshift the positions of the pipe ends in the y-axis and x-axisdirections. Further information on shifting grapple mechanisms in y-axisand x-axis directions is disclosed in U.S. patent application Ser. No.13/951,938, filed on Jul. 26, 2013 and titled GRAB ARM HOUSING FORGRAPPLE ATTACHMENT, the entire contents of which are incorporated hereinby reference.

The z-axis direction is considered generally parallel to the ground, orparallel to the main beam, or parallel to the pipes, or left and rightwhen viewing FIG. 3. The x-axis direction is an up and down verticaldirection generally perpendicular to the z-axis direction andperpendicular to the main beam 30 when viewing FIG. 3. The y-axisdirection is a forward and rearward direction generally perpendicular tothe z-axis direction and to the x-axis direction, and perpendicular tothe main beam 30 when viewing FIG. 3, and into and out of the page whenviewing FIG. 3.

The grapple mechanism 42, 44 can be identical in construction, but canalso be different in construction from each other. Each grapplemechanism includes a grab arm housing 46 and grab arms 48 connected tothe grab arm housing. Operation of the grab arms 48 is controlled usingone or more hydraulic cylinders on the grapple mechanisms 42, 44. In oneembodiment, the grab arm housings are similar in construction andoperation to the grab arm housings described in U.S. patent applicationSer. No. 13/951,938, filed on Jul. 26, 2013 and titled GRAB ARM HOUSINGFOR GRAPPLE ATTACHMENT.

As shown in FIGS. 1-3, each grapple mechanism 42, 44 is designed to pickup an end 50, 52 of the pipes 10, 12 using the grab arms 48 under thepower of the construction equipment. The positions of the grab armhousings can then be adjusted in the x, y and/or z-axis directions asnecessary to align the pipe ends 50, 52 during pipe attachment. Inaddition, the lower head assembly 32 can be rotated about the x-axis,the main beam 30 can be pivoted about the pivot 34 (i.e. about they-axis), the arm 20 of the excavator can be adjusted, and the positionof the excavator can be adjusted, in order to help achieve alignment ofthe pipe ends 50, 52. Any combinations of these adjustments can beutilized in order to achieve alignment of the pipe ends.

Once the pipe ends are aligned, the ends can then be welded or otherwisesecured to each other, for example using the pipe processing tool 18.Prior to welding or after welding, other pipe processing operations canbe performed on the pipe ends 50, 52 using the pipe processing tool 18as discussed further below.

The attachment 16 can be used in the horizontal orientation illustratedin FIG. 1 with horizontal pipe and with the main beam 30 orientedgenerally parallel to the ground. The attachment 16 can also be used ina vertical orientation (not illustrated) with vertical pipes, with themain beam 30 oriented generally perpendicular to the ground. Theattachment 16 can also be used with pipes that are oriented at anglesbetween horizontal and vertical.

The pipe processing tool 18 is configured to clamp onto at least one ofthe pipe ends 50, 52 and help hold the alignment between the pipe ends.The pipe processing tool is also configured to perform one or moreprocessing operations on the ends 50, 52 of the pipes. Examples ofprocessing operations include, but are not limited to, welding the pipeends 50, 52 together, coating one or more of the pipe ends, painting thepipe ends, cutting one or more of the pipe ends, applying a seal to sealthe pipe ends, beveling one or more of the pipe ends, or sand blastingone or more of the pipe ends. Other processing operations are possible.Depending upon the processing operation, the processing operation can beperformed before or after the pipe ends are aligned with each other.

In the illustrated embodiment, the pipe processing tool 18 is mounted onthe grapple attachment 16 between the grapple mechanisms 42, 44.However, in another embodiment, the pipe processing tool 18 is notmounted on the grapple attachment 16 but can instead be separate fromand perhaps used in conjunction with the grapple attachment 16.

With reference to FIGS. 2A, 2B and 3, the pipe processing tool 18 ismounted on a bracket 60 that is attached to the main beam 30. Thebracket includes first and second support rods 62 a, 62 b on oppositesides of the main beam 30. The support rods 62, 62 b permit side to sideadjustment of the position of the pipe processing tool 18 in the z-axisdirection. Adjustment of the pipe processing tool 18 in the z-axisdirection can be performed using one or more actuators 65 (visible inFIG. 2B). FIG. 3 shows the pipe processing tool 18 in a centeredposition on the rods 62 a, 62 b. FIG. 16 illustrates the pipe processingtool 18 shifted on the support rods 62 a, 62 b in the z-axis directionto an extreme left position. FIG. 17 illustrates the pipe processingtool 18 shifted on the support rods in the z-axis direction to anextreme right position.

FIGS. 2A, 2B, 3 and 12 also illustrate actuators 63 a, 63 b that arefixed at one end to the bracket 60 and at their opposite ends to thetool 18 for adjusting the tool vertically up and down in the x-axisdirection. In the illustrated example, there are two of the actuators 63a and two of the actuators 63 b. However, a single one of each of theactuators 63 a, 63 b could be used. FIG. 3 shows the pipe processingtool in a vertically center position. FIG. 18 shows the pipe processingtool shifted vertically upward in the x-axis direction by the actuators63 a, 63 b to an uppermost position (the deformation ring 70 is removedfor clarity). FIG. 2A shows the tool shifted vertically downward forengagement with the pipe ends.

The side-to-side shifting and up and down shifting of the tool 18permits the position of the tool 18 to be precisely adjusted relative tothe pipe ends 50, 52.

As shown in FIGS. 2A, 2B and 3, the pipe processing tool 18 includesfirst and second deformation rings 70, 72 that are configured to clamponto the pipes 10, 12 adjacent to the ends 50, 52 thereof on either sideof the joint between the ends. In an alternative embodiment illustratedin FIGS. 7 and 15, the pipe processing tool 18 includes a single one ofthe deformation rings 70 or 72 that is configured to clamp onto only oneof the pipe ends, for example the end 52 illustrated in FIGS. 7 and 15.

The construction of each of the deformation rings 70, 72 aresubstantially similar to one another, except that either or both of thedeformation rings includes at least one pipe processing mechanism 74(discussed further below) mounted thereon for performing a particularprocessing operation. Therefore, only one of the deformation rings 70,72 will be described in detail, it being understood that the otherdeformation can be substantially identical in construction with orwithout the pipe processing mechanism. In one embodiment, each of thedeformation rings includes at least one pipe processing mechanism. Inanother embodiment, the pipe processing mechanism(s) on the deformationring 70 can be configured to perform the same or similar processingoperation as the pipe processing mechanism(s) on the deformation ring72, or the pipe processing mechanism(s) on the deformation ring 70 canbe configured to perform a different processing operation than the pipeprocessing mechanism(s) on the deformation ring 72.

Details of the deformation rings 70, 72 will be described with respectto FIGS. 4-6, where FIG. 4 illustrates each deformation ring 70, 72 in aclosed configuration, FIG. 5 illustrates the deformation ring 72 whichincludes a single pipe processing mechanism 74, and FIG. 6 illustratesthe deformation ring 70, 72 in an open configuration.

Each deformation ring 70, 72 is configured generally as a clamshellconstruction having a central support member 76 and a pair of clamshellmembers 78 a, 78 b that are pivotally attached by pivots 80 to thecentral support member 76 as best seen in FIG. 6. Thus each deformationring 70, 72 has a closed configuration shown in FIGS. 4 and 5 and anopen configuration shown in FIG. 6. In the closed configuration, thecentral support member 76 and the clamshell members 78 a, 78 b form acircle that can encircle the pipes 10, 12, and in the open configurationthe deformation rings can be installed around or removed from the pipes.The free ends 82 of the clamshell members 78 a, 78 b can be providedwith a releasable locking mechanism (not illustrated) that can be usedto lock the ends 82 together when in the closed configuration to helpretain the deformation rings clamped onto the pipes. An example of areleasable locking mechanism is disclosed in U.S. Pat. No. 8,328,071 theentire contents of which are incorporated herein by reference in theirentirety.

In the illustrated example, the central support member 76 is formed by apair of plates that are spaced from one another using suitable spacersthat can have any configuration, for example round or flat. Likewise,each of the clamshell members 78 a, 78 b is formed by a pair of platesthat are spaced from one another using spacers 84 that are visible inFIG. 4. Linear actuators 86 a, 86 b, such as hydraulic cylinders orother suitable actuators, are connected between the central supportmember 76 and each of the clamshell members 78 a, 78 b for pivoting theclamshell members between the open and closed positions.

Each deformation ring 70, 72 further includes a plurality ofinterchangeable pipe deformation members 88 disposed on, andcircumferentially spaced from one another about, an inner circumferencethereof. The pipe deformation members 88 are disposed on the centralsupport member 76 and on each of the clamshell members 78 a, 78 b. Eachof the pipe deformation members 88 faces radially inward toward a centerof the deformation ring when the deformation ring is in the closedconfiguration. In one embodiment, the pipe deformation members areequally spaced from one another about the inner circumference of thedeformation ring. However, the deformation members 88 can have anyspacing from one another as long as they can deform the shape of thepipe.

The pipe deformation members 88 are designed to engage outer surfaces ofthe pipe 10, 12 and apply forces to the pipes to deform thecircumferential shapes of the pipes in order to change the circularityof the pipes prior to welding so that the shapes of the pipe ends moreclosely match one another. Preferably, the pipe deformation members 88are designed to operate automatically (i.e. non-manually) under controlby a suitable controller. So any type of pipe deformation members 88,including hydraulically actuated, electrically actuated, pneumaticallyactuated, or the like, that can be automatically operated and controlledcan be used.

In the illustrated embodiment, each of the pipe deformation members 88comprises a fluid actuated piston 90 that is hydraulically actuatable ina radial direction toward and away from the center of the deformationring in order to permit engagement with the pipe and change the forceapplied to the pipe. In one embodiment, an optional force distributionmember 89 (illustrated in dashed lines in FIGS. 4 and 5) can be securedto the pipe engaging end of each of the pistons 90 to help distributethe pressure applied by each of the pistons 90. The force distributionmembers 89 can be removably attached to the pistons 90 permitting themembers 89 to be removed and replaced with different members 89. Themembers 89 can have different shapes and sizes depending upon factorssuch as the circumferential shape of the pipe end, how much force needsto be applied, the shape one is trying to deform the pipe to, and thelike. In addition, a member 89 can be shared between two or more of thepistons 90.

With reference to FIG. 19, each of the pipe deformation members 88includes two hydraulic fittings 91 a, 91 b. The fitting 91 a isconnected to supply pressure and fluidly communicates with one side ofthe piston 90. The fitting 91 b is connected to the hydraulic tank andacts as a drain for hydraulic fluid from the supply side of the piston.

A valve 92, controlled by a control module discussed below, controls theflow of hydraulic fluid either into the fitting 91 a or from the fitting91 b. Any type of valve 92, directional or bidirectional, can be used.

In addition, a pressure reducing valve 93 can be provided to reduce, forexample automatically, the pressure of the hydraulic fluid which wasincreased by a hydraulic intensifier in a hydraulic manifold 158 (FIG.14). The valve 93 can allow some of the deformation members 88 toautomatically retract if needed to match the pipe contour. Theintensifier in the manifold increases the pressure of the hydraulicfluid from the excavator if the pressure is too low.

The actuators 86 a, 86 b, the hydraulics for the members 88, and thehydraulics for controlling the actuators that produce the side-to-sideand up/down shifting of the tool 18, are hydraulically connected to themanifold 158 (seen in FIG. 14) disposed on the side of one of thedeformation rings. The manifold 158 is controlled via a control module194.

In order to permit alteration of the circularity of the pipe, each ofthe pipe deformation members 88 can be individually and separatelyactuatable from the other pipe deformation members. This permits theindividual force applied by each of the pipe deformation members 88 tothe pipe to be controlled. So by controlling the forces applied by themembers 88 around the circumference of the pipe, the circularity of thepipe can be changed.

With reference to FIGS. 22 and 23, in an embodiment, a pressure line 94a and a tank line 94 b extend around each clamshell member 78 a, 78 b.Each pressure line 94 a is connected at one end to the manifold 158 toreceive hydraulic fluid. In addition, each tank line 94 b is connectedat one to the manifold 158 to direct fluid to the tank. In addition, thefittings 91 a, 91 b of each deformation member 88 are connected to thepressure and tank lines 94 a, 94 b, respectively, via suitable hoses.

With continued reference to FIGS. 22 and 23, in an embodiment, thecircumferential positions of some or all of the pipe deformation members88 on the clamshell members 78 a, 78 b can be adjusted as represented bythe arrows in FIG. 23. The members 88 can be moved to differentpositions depending upon factors such as the amount and location of thedeformation of the pipe(s) that is needed. The movement of the members88 can be performed manually or automatically.

In the example illustrated in FIGS. 22, 23, the circumferentialpositions of the members 88 are adjustable manually. For example, theclamshell members 78 a, 78 b are illustrated as including a plurality ofmounting holes 95 extending along each plate of each clamshell member 78a, 78 b. Each member 88 is fixed in position by suitable removablefastening members, such as pins or screws, that extend through themounting holes 95. However, by removing the fastening members, thecircumferential position of the member 88 can be adjusted with themember then being fixed in its new position by reinstalling thefastening members.

The circumferential positions of the members 88 can also beautomatically adjusted based on feedback from the sensors regarding thecircumferential shape(s) of the pipe end(s) discussed below. Byadjusting the positions of the members, the members 88 can be positionedat locations that are suitable for achieving the desired circumferentialshape(s) of the pipe end(s).

At least one of the deformation rings 70, 72, for example thedeformation ring 72, includes a 360 degree track 100 disposed thereon asbest illustrated in FIGS. 3 and 5. The track 100 can be disposed oneither side of the central support member 76 and the clamshell members78 a, 78 b, but in the illustrated example is mounted on the side facingthe other deformation ring. In the illustrated example, the track 100comprises a raised bar that is spaced from the side surface of thedeformation ring on which it is disposed, and which is configured tomovably support the pipe processing mechanism in a manner to permit thepipe processing mechanism to move 360 degrees along the track 100.

The pipe processing mechanism can be any structure(s) that can movealong the track 100 and which can be configured to perform at least oneprocessing operation on one or both ends 50, 52 of the pipes 10, 12. Asbest seen in FIGS. 4, 5, and 5A, the pipe processing mechanism caninclude a carrier 102 having a plurality of rollers 104 mounted on thebackside thereof facing the deformation ring on which it is disposed.The rollers 104 movably support the carrier 102 on the track 100allowing the carrier 102 to move along the track. In addition, upper andlower guides 212 a, 212 b help to retain the carrier 102 on the track100. Each guide 212 a, 212 b includes an end that faces the track 100,with each end including a notch 214 that receives a correspondinglyshaped ridge 216 formed on the track 100. In another embodiment, therollers 104 can form a sufficient guide in which case the guides 212 a,212 b may not be used.

The backside of the carrier 102 also includes a drive gear 202 thatengages with a 360 degree toothed track 204 formed on the track 100. SeeFIG. 5A. For sake of simplicity, the teeth on the track 204 are notillustrated in FIG. 5A. In another embodiment, instead of using a drivegear 202 and a toothed track, a friction drive wheel could be used inplace of the drive gear 202 that is in frictional driving engagementwith a surface of the track 100 for causing movements of the carrier102. Any form of drive mechanism that is suitable for causing movementof the carrier could be used.

In the case of the drive gear 202, the drive gear is rotated in eitherdirection by a reversible, variable speed drive motor 206 through asuitable drive train including a gear box 208. A motor controller 210controls the direction of rotation and the speed of the motor and thusof the carrier 102. Electricity for the motor 206, the controller 210,and any other electronic components on each pipe processing mechanism 74is provided via a wiring harness 211 back to the control module 194.FIG. 20 shows the wiring harness 211 to one of the pipe processingmechanisms 74, it being understood that separate wiring harnesses can beprovided to each pipe processing mechanism 74.

With reference to FIG. 5A, instead of using a wiring harness to eachmechanism 74, power for each mechanism 74 can be provided by a wire 213connected to the track 100 which directs electricity to the track. Powercan then be transferred to the mechanism(s) 74 via an electrical pick-upon the carrier 102 in manner similar to a slip ring construction.

As seen in FIG. 5, the carrier 102 is provided with a plurality ofmounting holes 105 that permits removable mounting of various sensorsand pipe processing tools 106 (shown in FIG. 13), discussed furtherbelow, to the carrier 102.

The pipe processing tool(s) 106 mounted to the carrier determines theprocessing operation that is performed. The pipe processing tool(s) canbe configured to perform processing operations that can include, but arenot limited to, welding, coating, cutting, sealing, beveling or sandblasting. In the illustrated example, the pipe processing tool 106 isconfigured to perform welding and includes a welder mounted on thecarrier 102 for welding the ends 50, 54 of the pipes 10, 12 to oneanother. Further details of the welder and carrier 102 are discussedbelow with respect to FIGS. 12-13.

The mechanism 74 can be configured to perform a single processingoperation or multiple processing operations. If the mechanism 74 isconfigured to perform a single processing operation, a single processingtool 106 can be removably mounted on the carrier 102. The pipeprocessing tool and can be removed and replaced with a different pipeprocessing tool to change the processing operation. Alternatively,multiple pipe processing tools 106 can be mounted on the carrier 102.

FIG. 5 illustrates a single one of the pipe processing mechanisms 74. Inthis embodiment, the mechanism 74 is intended to rotate 360 degreesaround the track 100 to process around the entire circumference of thepipe.

In an alternative embodiment shown in FIGS. 12 and 13, a plurality ofthe pipe processing mechanisms 74, in the illustrated example fouridentical mechanisms 74, can be disposed on the ring 100, with eachmechanism intended to perform its processing operation over the entire360 degree circumference of the pipe or about a limited portion of thepipe, for example about a 90 degree extent of the pipe(s). As shown inFIG. 13, each of the processing mechanisms 74 includes at least one ofthe processing tools 106, in this case a welder. Any type of welderperforming any type of welding can be used. In one example, the weldercan be a wire feed welder.

In the case of an attachment operation where the end 50 of the pipe 10is to be welded to the end 52 of the pipe 12, the shapes of the ends 50,52 of the pipes 10, 12 should match as closely as possible. Most often,the pipes 10, 12 have a circular cross-sectional shaped flow passage.However, prior to welding, the shapes of one or both ends 50, 52 maydeviate from circular. Therefore, one or both of the deformation rings70, 72 can be used to deform the shape of its respective pipe end 50, 52so that the cross-sectional shapes can match.

One or more sensors can be used to detect the shape of at least one ofthe pipe ends. In another embodiment, sensors can detect the shape ofeach of the pipe ends. In the case of circular pipe, the sensor(s)detect the shapes (or the circularity, i.e. how close to, or how fareach end is from, a perfect circle) of the ends 50, 52 of the circularpipe. The data from the sensors is fed to a control system which in turnuses the data to control the pipe deformation members 88 to deform thecircumferential shape of one or both of the pipe ends until thecircumferential shapes of the pipe ends generally match one another. Asexplained above, it is not required that the circumferential shapes ofthe pipe ends be a perfect or near perfect circle. The circumferentialshapes can be any shape as long as they match one another closely enoughto permit the attachment operation to be performed.

The sensors can be non-contact type sensors or contact-type sensors.Non-contact type sensors include, but are not necessarily limited to,one or more lasers. Examples of contact type sensors include, but arenot necessarily limited to, Linear Variable Differential Transformers(LVDT) or Rotary Variable Differential Transformers (RVDT).

As best seen in FIGS. 12 and 13, each of the mechanisms 74 includes alaser 110 mounted on, for example, the carrier 102. The lasers 110 donot need to be mounted to the carrier 102. Instead, the lasers 110 canbe mounted at any location suitable for performing their describedfunctions. For example, the lasers 110 could be mounted to the centralsupport member 76 and/or to the clamshell members 78 a, 78 b and/or tothe main beam 30.

Each laser 110 can be a line laser that directs a line of light 110 a atthe pipe and senses the return light to capture a portion of the3-dimensional curvature of the pipe ends. By rotating the carriers 102around the pipe, the data from the lasers 110 can be combined to detectthe entire 3-dimensional curvature (i.e. the circumferential shape) ofeach pipe end. In embodiments where only a single mechanism 74 is used,only a single one of the lasers 110 can be used as long as the carrier102 can rotate the entire 360 degrees around the pipe.

In another embodiment, a single laser can be used to determine the3-dimensional curvature of only one of the pipe ends. This may be usefulwhere the 3-dimensional curvature of one of the pipe ends has alreadybeen determined or where it is assumed that the 3-dimensional curvatureof one of the pipe ends is of a certain shape.

The data from the laser 110 is fed to a controller which uses the datato determine the circumferential shape of one or both of the pipe ends.The controller then controls the pipe deformation members 88 of one orboth of the deformation rings 70, 72 to suitably deform one or both ofthe pipe ends 50, 52. The operation of the lasers 110 and thedeformation by the pipe deformation members 88 can continue until suchtime as the controller determines that the shapes of the pipe ends matchone another and are suitable for welding together.

In addition, it is preferred that a means be provided to determine thedistance of the carrier from the pipe end. The distance from the pipeend is used to adjust the welder during welding to achieve optimalwelding. In one embodiment, the distance from the pipe can be measuredusing a linear transducer 111 that is mounted on each carrier 102 asshown in FIG. 13. Alternatively, the lasers 110 could be used todetermine the distance from the pipe ends.

If pipe processing operations other than or in addition to welding areto be performed, those separate pipe processing operations can beperformed by the pipe processing tool 18 before or after the weldingoperation of the pipe ends 50, 52. The lasers 110 and/or the lineartransducer 111 may or may not be used with processing operations otherthan welding.

In operation, with reference to FIGS. 1, 3 and 7, the grapple attachment16 is used to pickup the ends of the two pipes to be joined together.Through suitable movements of the grapple attachment 16 (for example,tilting of the main beam 30; rotation of the lower head assembly 32;shifting of the grapple mechanisms 42, 44 in the x, y, and/or z axisdirections) and optionally together with movements of the excavator 14(for example, forward/backward via the tracks 22 a, 22 b; rotation ofthe cab 24/engine assembly 26; and movements of the arm 20), the ends ofthe two pipes 10, 12 are brought together and aligned with one another.The alignment process can be facilitated using suitable sensors asdescribed in U.S. Pat. No. 8,328,071.

Once alignment is achieved, the pipe processing tool 18 is engaged withone or more of the pipe ends 50, 52. In the case where both pipedeformation rings 70, 72 are used, each deformation ring is installedaround its respective pipe end to help retain the pipe ends in theiraligned position. The sensor(s) 110 may then be used to determine thecircumferential shapes of the pipe ends 50, 52 in order to determinewhether or not the circumferential shapes match closely enough. If theshapes do not match closely enough, select ones of the pipe deformationmembers 88 on at least one of the pipe deformation rings 70, 72 areactuated as determined by the controller in order to suitably deform theend(s) of the pipe(s) until the shapes more closely match one another.Once the shapes are determined to match one another, the ends 50, 52 canthen be welded to one another.

All of the movements and operations of the grapple attachment 16, theexcavator 14 and the pipe processing tool 18 can be controlled from theoperator's cab 24 of the excavator, from an operator on the groundoutside of the cab 24, or a combination thereof. In one embodiment shownin FIG. 21, all of the operations can be controllable from the ground byan operator via a portable control assembly 150 that can be carried bythe operator or that can be suitably supported on the ground. Allowingan operator to control all operations is advantageous because it allowsthe operator to be closer to the intended joint between the two pipeends 50, 52 permitting the operator to visually see the pipe ends andthe alignment process thereof.

With reference to FIGS. 8-11, an example of the portable controlassembly 150 is illustrated. The portable control assembly 150 isdesigned to allow an operator to control all of the functions of theexcavator 14, the grapple attachment 16, and the pipe processing tool 18that may be required to bring the ends of the two pipes together, alignthe ends, and perform processing operations on the pipe ends, such aswelding the ends together. The control assembly 150 can have anyconfiguration that permits this functionality. In the illustratedembodiment, the control assembly 150 includes a main control assembly152 and a remote control pendent 154 that is supportable on andremovable from the main control assembly 152.

As best seen in FIG. 8, the main control assembly 152 is designed to bephysically carried by an operator and includes a carrying strap 160suitably fixed at each end to the main control assembly 152. The maincontrol assembly 152 can be battery powered or it can be powered by asuitable power line running from the excavator 14 or other suitablesource of power.

The assembly 152 includes a generally rectangular housing 161 with afront side 162 that can be curved to allow the main control assembly togenerally conform to the belly or midriff area of the operator. Left andright forearm rest pads 164 a, 164 b are disposed on the top of thehousing 161 and provide locations for the operator to rest his forearmson during use. A set of left and right combined joystick handgripcontrols 166 a, 166 b are mounted on the housing 161 adjacent to the endof each rest pad 164 a,b. Each control 166 a, 166 b includes a handgripmounted on a joystick. In addition, a set of left and right joystickcontrols 168 a, 168 b are mounted on the housing 161 adjacent to thejoystick handgrip controls 166 a,b.

The joystick handgrip controls 166 a,b and the joystick controls 168 a,bcan be designed to control various functions. For example, in oneembodiment, the controls can be set-up to control the followingfunctions:

-   -   1) The left joystick handgrip control 166 a:        -   excavator rotation and excavator stick cylinder can be            controlled by movements of the joystick portion of the            control 166 a;        -   rotation of lower head assembly 32 can be controlled by one            or more buttons on the handgrip portion of the control 166            a;        -   the shift mode of the grapple mechanisms 42, 44 (i.e.            controlling whether shifting is in x, y or z direction) can            be controlled by one or more buttons on the handgrip portion            of the control 166 a;        -   clamping of one of the grab arms of one of the grapple            mechanisms can be controlled by one or more buttons on the            handgrip portion of the control 166 a;    -   2) The right joystick handgrip control 166 b:        -   excavator bucket cylinder and excavator boom cylinders can            be controlled by movements of the joystick portion of the            control 166 b;        -   tilting of the main beam 30 can be controlled by one or more            buttons on the handgrip portion of the control 166 b;        -   x, y and z-axis shifting of the grapple mechanisms 42, 44            can be controlled by one or more buttons on the handgrip            portion of the control 166 b;        -   clamping of one of the grab arms of one of the grapple            mechanisms can be controlled by one or more buttons on the            handgrip portion of the control 166 b.    -   3) Left joystick control 168 a        -   left excavator track    -   4) Right joystick control 168 b        -   right excavator track.            These particular functions controlled by each control 166 a,            166 b, 168 a, 168 b are exemplary only, and the controls can            be assigned different functions. As shown in FIG. 8, the            joystick handgrip controls 166 a, 166 b include various            buttons 172 thereon that implement the different control            functions of the pipe processing tool 18. In an alternative            embodiment, the main control assembly 152 can also be set-up            to control the pipe processing tool.

The main control assembly 152 can also include a display 170 that candisplay any data or information relating to the grapple attachment 16and/or the excavator 14.

With reference to FIGS. 8-10, the remote control pendent 154 is designedto mate with the main control assembly 152 during use or it can be usedphysically separate from the main control assembly 152. As best seen inFIG. 9, the housing 161 of the main control assembly 152 includes arecess 180 formed therein in which the remote control pendent 154 can beremovably disposed. As a result, the physical size of the remote controlpendent 154 is less than the physical size of the main control assembly150, rendering the pendent 154 more readily manually portable.

The remote control pendent 154 can be battery powered or it can bepowered by a suitable power line running from the excavator 14 or othersuitable source of power. In one embodiment, the battery or batteries ofthe remote control pendent 154 is recharged by the main control assembly152 when the pendent 154 is inserted into the recess 180, such as via amating power connection.

With reference to FIG. 10, the pendent 154 includes a housing 182 thatis sized to be carried in the hands of an operator. If desired, thependent 154 could also include a shoulder strap or other carrying aid tofacilitate carrying by the operator. The top of the housing 182 includesa plurality of control buttons 184 that implement the various controlfunctions of the pendent 154.

In the illustrated example, the pendent 154 is designed to control thevarious functions of the pipe processing tool 18 and the grappleattachment 16. In particular, the pendent 154 is designed to control theopening and closing of the clamshell members 78 a, 78 b of the pipedeformation rings, control operation of the pipe deformation members 88,control operation of the pipe processing mechanism 74, and control sideto side and vertical shifting of the pipe processing tool. In addition,the pendent 154 is configured to control the various operations of thegrapple attachment 16 as discussed above, such as tilting of the mainbeam, rotation of the lower head assembly 32, x, y and z axis movementsof the grapple mechanisms 42, 44, and opening and closing of the grabarms 48. Optionally, the pendent 154 could also be configured to controlthe excavator 14.

The pendent 154 can also include a display 186 that can display any dataor information relating to the pipe processing tool 18 and the grappleattachment 16, and optionally the excavator 14.

Although the main control assembly 152 and the pendent 154 areillustrated as being separable from each other, the functions thereofcan be integrated into a single, inseparable unit if desired. Inaddition, although the pendent 154 is intended to be used whilephysically separate from the main control assembly 152, the pendent 154can be operated while it is mated with the main control assembly asshown in FIG. 8.

Control signals, data signals and other communications between thevarious components can be implemented wirelessly using suitable wirelesscommunication technology, for example radio communications such asBluetooth or WiFi. For example, a control module 190 (see FIG. 7) on theexcavator 14 can include a transceiver that sends signals to andreceives signals from a transceiver on the main control assembly 152.The excavator control module 190 is integrated with the control systemof the excavator to control the excavator based on signals from the maincontrol assembly and to send desired data signals from the excavator tothe main control assembly regarding the operation of the excavator.

A control module 192 (see FIG. 2) on the grapple attachment 16 includesa transceiver that sends signals to and receives signals from atransceiver on the main control assembly 152. The grapple attachmentcontrol module 192 controls the grapple attachment based on signals fromthe main control assembly and sends desired data signals from thegrapple attachment to the main control assembly regarding the operationof the grapple attachment.

The control module 194 (see FIG. 14) on the pipe processing tool 18 oron the grapple attachment 16 includes a transceiver that sends signalsto and receives signals from a transceiver on the pendent 154. The pipeprocessing tool control module 194 controls the pipe processing toolbased on signals from the pendent and sends desired data signals fromthe pipe processing tool to the pendent regarding the operation of thepipe processing tool. The control module 194 is connected to andcontrols the laser(s) 110, the linear transducers 111, the actuation ofthe pipe deformation members 88, the side-to-side shifting of the pipeprocessing tool, and the up and down shifting of the pipe processingtool.

However, in some embodiments, the main control assembly 152 and thependent 154 could be hard wired to the equipment 14, the attachment 16and the pipe processing tool 18.

With reference to FIG. 11, a schematic depiction of an exemplary controlscheme between various components of the system, including the portablecontrol assembly 150, the construction equipment 14, the grappleattachment 16, and the pipe processing tool 18, is illustrated. In theillustrated embodiment, the control module 190 routes control signalsbetween the handgrip controls 166 a, b, the construction equipment 14and the control module 192 on the grapple attachment 16. The controlmodule 190 can also route signals to and from a cab monitor located inthe cab of the construction equipment that can display information suchas the status of various components, a live video feed of the equipmentand/or the grapple attachment 16, and the like.

The control module 192 controls operation of the grapple attachment 16,and routes control signals to and from the grapple mechanisms 42, 44 andthe pipe processing tool 18.

In addition, the main control assembly 152 and/or the remote controlpendent 154 are in communication with the control module 192 forpermitting control of the operation of the grapple attachment 16, thegrapple mechanisms 42, 44 and the pipe processing tool 18. The portablecontrol assembly 150 can also be used to control the excavator 14 andthe attachment 16 to pick-up pipe, string pipe (i.e. lay pipe end-to-endin preparation to be welded together), set-up the pipe (i.e. afterstringing the pipe, the pipe is welded together, typically above ground,using the pipe processing tool), and perform lower in operations (i.e.once the pipe is welded together, it is lowered into a trench). FIG. 21illustrates an operator 250 using the portable control assembly 150 tocontrol the excavator 14 and/or the grapple attachment 16 from theground 252.

In addition, a portable control assembly similar to the portable controlassembly 150 can be used to control other types of pipe handling and/orprocessing attachments. For example, the portable control assembly 150can be configured to allow a single operator to control a pipe make-upoperation or pipe break-out operation using an attachment described inU.S. Pat. No. 8,490,519 which is incorporated herein by reference in itsentirety. In this embodiment, the portable control assembly can beconfigured to control the excavator and/or the attachment described inU.S. Pat. No. 8,490,519 to pick-up pipe and lay the pipes end-to-end forsubsequent make-up operations by threading the pipes together andtorqueing the joints.

In use, and assuming that welding is to be performed to attach the pipeends, the ends 50, 53 of the two pipes 10, 12 are picked up by theattachment 16 under the control of an operator in the cab 24 or by anoperator on the ground using the portable control assembly 150. The endsof the two pipes are then aligned with one another. The entire alignmentprocess can be automated whereby via a push of a button, the operatorcan initiate an alignment sequence where the various movements of theexcavator 14 and the attachment 16 are automatically controlled toachieve alignment. The automatic alignment can be aided by sensors, forexample the laser sensors 110 and/or the linear transducers 111 of thepipe processing tool 18, to help achieve the alignment. Alternatively,or at any time after initiating an automatic alignment sequence, theoperator can use the portable control assembly 150 to perform manualcontrol of the movements of the excavator 14 and the attachment 16.

In addition to aligning the ends of the pipes, the circumferentialshapes of the pipe ends need to generally match one another. So part ofthe alignment sequence includes a matching sequence, or a separatematching sequence can be initiated by the operator, to ensure thecircumferential shapes of the pipe ends generally match. The matchingsequence can be performed as described above by using the laser sensors110 and/or the linear transducers 111 to determine the shapes of thepipe ends, and then suitably controlling the forces of theinterchangeable deformation elements 88 to deform one or more of thepipe ends so they generally match one another. It is preferred that thematching sequence be automated with the operator being able to assumemanual control via the pendent 154 or the main control assembly 152 ifnecessary.

Once alignment and a general shape match are achieved, the ends of thepipe are then welded together in a welding sequence. The weldingsequence can be combined with the alignment and matching sequencesabove, or it can be a separately sequence initiated by the operator.During the welding sequence, the carrier(s) 102 and the welders mountedthereon are automatically controlled to perform the welding 360 degreesabout the pipe joint. The rate of speed of the carrier(s) 102, thedirection of movement of the carrier(s), the operation of the weldersuch as wire feed rate, can all be automatically controlled, based inpart on feedback data from the laser(s) 110 and the linear transducer(s)111 to achieve optimal welding. However, if necessary, the operator isable to assume manual control of the welding sequence via the pendent154 or the main control assembly 152.

Once the pipes are welded, the attachment 16 can then be used to lowerthe pipe into a trench. Alternatively, for pie tie-in where the pipesare already located in a trench, the welding can occur in the trench.

The examples disclosed in this application are to be considered in allrespects as illustrative and not limitative. The scope of the inventionis indicated by the appended claims rather than by the foregoingdescription; and all changes which come within the meaning and range ofequivalency of the claims are intended to be embraced therein.

1-17. (canceled)
 18. A method of performing a processing operation onone or more ends of first and second pipes to be joined together,comprising: arranging a first deformation ring of a pipe processing toolmounted on a grapple attachment so that the first deformation ringencircles the first pipe adjacent to the end thereof, the firstdeformation ring includes: a plurality of pipe deformation membersdisposed on, and circumferentially spaced from one another about, aninner circumference of the first deformation ring, each of the pipedeformation members faces radially inward toward a center of the firstdeformation ring; each of the pipe deformation members is actuatable ina radial direction toward and away from the center of the firstdeformation ring in order to permit engagement with the first pipe; andeach pipe deformation member is individually and separately actuatablefrom the other pipe deformation members; using at least one sensormounted on the grapple attachment to generate data indicating thecircularity of the end of at least one of the first and second pipe; andbased on the data generated by the at least one sensor, actuatingselected ones of the pipe deformation members to engage an outer surfaceof the first pipe and change the circularity of the end of the firstpipe.
 19. The method of claim 18, comprising using at least one sensorto generate data indicating the circularity of the end of the firstpipe, and using at least one sensor mounted on the grapple attachment togenerate data indicating the circularity of the end of the second pipe;and based on the data indicating the circularity of the end of the firstpipe and the data indicating the circularity of the end of the secondpipe, actuating selected ones of the pipe deformation members to engagethe outer surface of the first pipe and change the circularity of theend of the first pipe to conform to the circularity of the end of thesecond pipe.
 20. The method of claim 18, further comprising arranging asecond deformation ring of the pipe processing tool so that the seconddeformation ring encircles the second pipe adjacent to the end thereof,the second deformation ring includes: an additional plurality of pipedeformation members disposed on, and circumferentially spaced from oneanother about, an inner circumference of the second deformation ring,each pipe deformation member of the additional plurality of pipedeformation members faces radially inward toward a center of the seconddeformation ring; each pipe deformation member of the additionalplurality of pipe deformation members is actuatable in a radialdirection toward and away from the center of the second deformation ringin order to permit engagement with the second pipe; each pipedeformation member of the additional plurality of pipe deformationmembers is individually and separately actuatable from the other pipedeformation members of the additional plurality of pipe deformationmembers using at least one sensor mounted on the grapple attachment togenerate data indicating the circularity of the end of the first pipeand using at least one sensor mounted on the grapple attachment togenerate data indicating the circularity of the end of the second pipe;based on the data indicating the circularity of the end of the firstpipe, actuating selected ones of the pipe deformation members of thefirst deformation ring to engage the outer surface of the first pipe andchange the circularity of the end of the first pipe; and based on thedata indicating the circularity of the end of the second pipe, actuatingselected ones of the pipe deformation members of the second deformationring to engage an outer surface of the second pipe and change the changethe circularity of the end of the second pipe.
 21. The method of claim18, further comprising performing a processing operation on one or moreof the ends of the first and second pipes.
 22. The method of claim 21,wherein the processing operation is performed after the circularity ofthe end of the first pipe is changed.
 23. The method of claim 22,wherein the processing operation comprises welding.
 24. The method ofclaim 18, after changing the circularity of the end of the first pipe,using the at least one sensor mounted on the grapple attachment togenerate additional data indicating the circularity of the end of thefirst pipe.
 25. The method of claim 24, based on the additional data,actuating selected ones of the pipe deformation members to engage anouter surface of the first pipe and change the circularity of the end ofthe first pipe.